Development of anthropomorphic multi-D.O.F master-slave manipulator

Abstract

We developed a robotic arm for a master-slave system to support tele-operation of an anthropomorphic robot, which realizes remote dexterous manipulation tasks. In this paper, we describe the design and specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the tele-operation using exoskeleton. The paper explores the design decisions and trade-offs made in achieving this combination of price and performance. We developed the 6-degree-of-freedom slave arm and exoskeleton master for control of robotic arm.